JPH0811314B2 - Copy traveling device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention is capable of traveling along a front surface or a back surface of a plate-like object having a curved surface portion, and can be applied to a welding machine or a fusing machine. The present invention relates to a copying traveling device suitable as a truck or the like.

[Conventional technology]

There is a case where it is desired to fillet weld the plate 2 having the curved surface portion to the flat plate 1 as shown in FIG. In such a case, conventionally, it was necessary to perform manual welding or to perform automatic welding with a large-scale device such as a robot.

[Problems to be solved by the invention]

However, in the former case, there is a problem that the work efficiency is low and the skill of the worker is required, and in the latter case, there is a problem that the device cost becomes high and it cannot be carried out in a narrow place. .

[Object of the Invention]

The present invention has been made to solve the above-mentioned conventional problems, and has a small size and a relatively simple structure, and smooth without rattling following the front surface (or back surface) of a plate-like object having a curved surface portion. The spring force can be set easily, because there is no risk that the vehicle body will rattle or the roller will slip with respect to the plate-shaped object even if the force of the spring means for urging the roller is weak. And with a welding device,
An object of the present invention is to provide a copying traveling device that can automatically weld a plate-like object having a curved surface portion with a simple configuration and can be used in fields other than welding.

[Means for solving problems]

A copying travel device according to the present invention is a copying travel device that travels following the front surface (or back surface) of a plate-like object, and constitutes a vehicle body and a magnet, and is rotatably supported by the vehicle body and has an outer peripheral surface. A drive roller that comes into contact with the front surface (or the back surface) of the plate-like object, a drive device that drives this drive roller, and a vehicle body that moves independently of each other in a direction intersecting the front surface and the back surface of the plate-like object. A pair of plate surface guide roller support members that are rotatably supported, and the plate surface guide roller support members that are rotatably supported by the plate surface guide roller support members. ) And a spring means for urging each of the plate surface guide roller supporting members in a direction in which the plate surface guide roller approaches the drive roller.

[Action]

In the present invention, the plate-like object is held between the drive roller and the pair of plate surface guide rollers by the force of the spring means.

When the drive roller is rotated by the drive device in such a state, the drive roller and the plate surface guide roller travel along the front surface or the back surface of the plate-like object, and thus the vehicle body also moves along the front surface or the back surface of the plate-like object. And run.

Here, in the present invention, the pair of plate surface guide rollers are in contact with the plate-shaped object at the outer peripheral surfaces before and after the drive roller, and the pair of plate surface guide rollers and the drive roller are plate-shaped objects at three points. Since the vehicle is sandwiched, the vehicle body can smoothly run without rattling with respect to the plate-like object.

Also, when the device is traveling on the flat part of the plate-like object,
When traveling on a curved surface with a certain curve, the relative positional relationship between the vehicle body and the driving roller and the pair of plate surface guide rollers does not change, but the flat surface enters the curved surface, or conversely the curved surface. At a portion where the curvature of the plate-like object changes, such as when entering the flat part from the above, the pair of plate-face guide roller support members move independently of each other in the direction intersecting the front surface and the back surface of the plate-like object. As a result, the pair of plate surface guide rollers independently change their positions with respect to the vehicle body and the drive roller in accordance with the change in the curvature. Therefore, even in such a portion where the curvature changes, the drive roller and the plate surface guide roller continue to firmly hold the plate-like object, and the vehicle body moves along the front surface (or back surface) of the plate-like object faithfully. go.

Further, when the driving roller does not form a magnet, even if the plate-like object is a magnetic body, if the force of the spring means for urging the plate surface guide roller is weak, it is driven in a portion where the curvature changes. There is a possibility that the roller and the plate surface guide roller cannot reliably sandwich the plate-shaped object, the vehicle body rattles against the plate-shaped object, or the drive roller slips on the plate-shaped object.However, in the present invention, Since the drive roller constitutes a magnet, when the plate-like object is a magnetic body, the drive roller is attracted to the plate-like object by the magnet, so that the vehicle body rattles even if the force of the spring means is weak, There is no risk of the drive roller slipping on the plate-shaped object. Therefore, the allowable range of the spring force of the spring means is widened, and the spring force can be easily set.

〔Example〕

Hereinafter, the present invention will be described based on embodiments shown in the drawings (in this embodiment, the plate member 2 is assumed to be a magnetic material such as an iron plate).

A pair of end face guide rollers 4 and 5 are rotatably supported on the vehicle body 3, respectively.
There is an appropriate gap between the five. The rollers 4,5
Is an end face of the plate-like 2 having a curved surface portion along which the present apparatus travels
It is designed to contact 2a at the same time. In this embodiment, each of the end surface guide rollers 4 and 5 is composed of three ball bearings as shown in FIG.

A drive roller shaft 8 is rotatably supported on the vehicle body 3 via bearings 6 and 7 (see FIG. 6), and a driven gear 9 and a drive roller 10 composed of a magnet are mounted on the drive roller shaft 8. It is fixed. The upper end side of the magnet roller 10 constitutes an N pole and the lower end constitutes an S pole (however, the upper end side may constitute an S pole and the lower end side may constitute an N pole). Also, the drive roller shaft 8 is, as shown in FIG.
It is slightly inclined forward from the direction V perpendicular to the end surface 2a of the plate member 2 with which the plate 5 contacts.

A drive motor 11 is attached to the vehicle body 3,
As shown in FIG. 6, a drive gear is attached to the rotary shaft of the drive motor 11.
12 is fixed. The drive gear 12 is meshed with the driven gear 9 via the intermediate gear 3.

Reference numerals 15 and 16 denote a pair of plate surface guide roller supporting members, and these members 15 and 16 are provided with linear convex portions 17 as well shown in FIGS. 5 and 7, respectively, and These projections 17 are fitted between strip-shaped slide guides 18 and 19 and between strip guides 20 and 21 provided on the vehicle body 3 so as to be movable in parallel with these guides, respectively. Also,
The plate surface guide roller support members 15 and 16 are provided with elongated holes 22, and the elongated holes 22 have their length direction parallel to the length direction of the convex portion 17. Then, a bolt 23 penetrates the elongated hole 22, and the bolt 23 is screwed into the vehicle body 3. As a result, the plate surface guide roller support members 15 and 16 are movable independently of each other in the direction parallel to the rotation axes of the end surface guide rollers 4 and 5 (the direction of arrow B in FIGS. 2 and 3). .

At the tip of the plate surface guide roller support members 15 and 16,
As shown in FIGS. 2 to 5, plate surface guide roller shafts 26, 2
7 are attached in a direction perpendicular to the end surface 2a of the plate member 2, and plate surface guide rollers 28 and 29 are rotatably supported by these guide roller shafts 26 and 27, respectively.
The rollers 28, 29 are covered with roller covers 40, 41 attached to the plate surface guide roller support members 15, 16 at the portions not facing the drive roller 10, respectively. Tension coil springs 30 and 31 are interposed between the plate surface guide roller support members 15 and 16 and the vehicle body 3, and these springs 30 and 31 cause the plate surface guide rollers 28 and 29 to act as drive rollers 10. The plate surface guide roller support members 15 and 16 are biased in the direction of approaching each other.

As well shown in FIG. 1, an attachment / detachment lever 32 is supported on the vehicle body 3 so as to be rotatable about a shaft 33 perpendicular to the plate surface guide roller supporting members 15 and 16. The detachable lever 32 has its rotation range limited by a stopper mechanism (not shown). Further, the attaching / detaching lever 32 has branching portions 32a, 32b branching on both sides, and
As shown in the figure, these branch portions 32a and 32b are provided with springs 3
Plate surface guide roller support members 15, 1 by the force of 0, 31 respectively
Pressed on the rear end of 6.

An arm 34 is attached to the vehicle body 3, and a torch support 35 is attached to the tip of the arm 34. A torch 36 such as a carbon dioxide welding machine (shown only in FIGS. 1 and 9 to 11) is attached to the torch support 35. The torch support 35 can adjust the position and angle of the torch 36 with respect to the vehicle body 3 in various ways.

 Next, the operation of this embodiment will be described.

First, when the attachment / detachment lever 32 is rotated in the direction of arrow A in FIGS. 1 and 3, the tip ends of the branch portions 32a, 32b of the lever 32 cause the rear end portions of the plate surface guide roller supporting members 15, 16 to spring 3.
By pushing against 0, 31, the plate surface guide rollers 28, 29 are moved in a direction away from the drive roller 10. In this state, the plate material 2 is inserted between the drive roller 10 and the plate surface guide rollers 28, 29 as shown in FIGS. 9 to 11, and the outer circumferences of the end surface guide rollers 4, 5 are arranged as shown in FIG. The surface is brought into contact with the end surface 2a of the plate material 2. Then, when the detachable lever 32 is released, the force of the springs 30 and 31 together with the plate surface guide roller support members 15 and 16 cause the plate surface guide roller 28 and
29 returns to the drive roller 10 side, and the plate material 2 is sandwiched between the drive roller 10 and the plate surface guide rollers 28, 29. At this time, the drive roller 10 is attracted to the plate member 2 by magnetic force.

Next, when the drive motor 11 is driven, the power of the motor 11 is transmitted to the drive roller 10 via the drive gear 12, the intermediate gear 13 and the driven gear 9, and the drive roller 10 is rotated. Then, the plate member 2 is driven by the force of the springs 30 and 31 to drive the driving roller 1.
Since it is sandwiched between 0 and the plate surface guide rollers 28, 29, the drive roller 10 and the plate surface guide rollers 28, 29 travel along the front surface (or back surface) 2b of the plate material 2 and eventually the vehicle body. 3 and the welding torch 36 also travel along the front surface (or back surface) 2b of the plate material 2.

Here, in this device, a pair of plate surface guide rollers
28 and 29 are brought into contact with the plate-like object on the outer peripheral surfaces before and after the drive roller 10, and the pair of plate-face guide rollers 28 and 29 and the drive roller 10 sandwich the plate material 2 at three points. It is possible to allow the vehicle body 3 to travel smoothly without rattling with respect to the plate material 2.

9 to 11 show the movements of the plate surface guide roller support members 15 and 16 and the plate surface guide rollers 28 and 29 during such traveling. In addition, for the sake of explanation,
It is assumed that the plate member 2 is curved into a shape in which two semicircles are connected by two parallel straight lines. However, as will be apparent from the following description, this device is a plate member having another kind of curved surface. Of course, it is also possible to make it travel following an object.

When the apparatus is traveling on the flat surface portion of the plate member 2 as shown in FIG. 9 or is traveling on the curved surface portion having a constant curvature as shown in FIG. 11, the vehicle body 3, the drive roller 10 and the plate are Although the relative positional relationship with the surface guide rollers 28, 29 does not change,
As shown in FIG. 10, in a portion where the curvature of the plate member 2 changes, such as when entering a curved surface portion from a flat surface portion or conversely entering a curved surface portion, a plate surface guide roller support The members 15 and 16 are independent of the vehicle body 3 by the arrow B.
By linearly moving in the direction, the plate surface guide rollers 28 and 29 independently change their positions with respect to the vehicle body 3 and the drive roller 10 as the curvature changes. Therefore,
Even in such a portion where the curvature changes, the drive roller
10 and the plate surface guide rollers 28, 29 continue to firmly clamp the plate material 2, and the vehicle body 3 and thus the welding torch 36 faithfully move along the front surface (or back surface) 2b of the plate material 2.

Further, for convenience, it is assumed that the plate member 2 is upright and the end face 2a is the upper end face. If the drive roller shaft 8 is not tilted forward, the plate member 2 is bent or the plate member 2 is not tilted. Due to the improper orientation of the first set of the apparatus with respect to the drive roller 10, the drive roller 10 and thus the vehicle body 3 may run diagonally upward, and eventually come off the upper end of the plate material 2. However, in the present embodiment, as described above, the drive roller shaft 8 is in the direction V perpendicular to the end surface 2a of the plate member 2 with which the end surface guide rollers 4 and 5 contact.
Since it is slightly tilted forward, the drive roller 10 always tries to go diagonally downward. Therefore, the end face guide roller
4 and 5 are always acted on by the downward force, and both are always plate 2
Since it is in contact with the end surface of the plate member 2, the vehicle body 3 not only travels along the front surface (or back surface) 2b of the plate member 2 as described above, but also faithfully follows the end surface 2a of the plate member 2. go.

Therefore, the welding torch 36 moves following the welding line 37 between the plate materials 1 and 2 (the contact portion between the plate materials 1 and 2). Therefore, if the welding is performed by the welding torch 36 at the same time when the present apparatus is running, the plate materials 1 and 2 can be automatically fillet welded.

When the apparatus is removed from the plate 2 after the welding is completed, the attaching / detaching lever 2 may be rotated again in the direction of arrow A to separate the plate surface guide rollers 28, 29 from the plate 2 and then removed.

When the drive roller 10 is not a magnet roller, when the force of the spring means for urging the plate surface guide roller is weak, the drive roller 10 and the plate surface guide rollers 28, 29 are changed in a portion where the curvature changes. When the plate member 2 is made of a magnetic material, there is a risk that the and the plate member 2 cannot be securely held, and the vehicle body rattles against the plate member 2 or the drive roller 10 slips with respect to the plate member 2. If the drive roller 10 is a magnet roller, the drive roller 10 attracts the plate material 2 by magnetic force, so that the vehicle body rattles against the plate material 2 or the drive roller 10 is a plate material even if the springs 30 and 31 have a weak force. There is no risk of slipping with respect to 2, the allowable range of the spring force of the springs 30 and 31 is widened, and the spring force can be easily set.

Further, in the above-described embodiment, an example in which the profile traveling device according to the present invention is used for automatic welding is shown, but the profile traveling device according to the present invention can be used for purposes other than welding such as fusing.

Further, in the above-mentioned embodiment, the drive roller 10 is arranged on the inner peripheral side of the plate material 2 and the plate surface guide rollers 28, 29 are arranged on the outer peripheral side thereof, but conversely, the plate surface guide rollers are arranged on the inner peripheral side of the plate material 2.
The drive rollers 10 may be arranged on the outer sides of 28, 29, respectively.

Further, in the above-described embodiment, the device according to the present invention is made to follow the annular plate material, but it is needless to say that the device of the present invention can also be made to follow the plate-shaped object that does not form the annular shape. Yes.

〔The invention's effect〕

INDUSTRIAL APPLICABILITY As described above, the copying traveling device according to the present invention has a small size and a relatively simple structure, and can smoothly travel along the front surface (or back surface) of a plate-like object having a curved surface portion without rattling. Moreover, even if the force of the spring means for urging the roller is weak, there is no risk of rattling of the vehicle body or slipping of the roller with respect to the plate-like object, and it is possible to easily set the spring force. It is what is done.

[Brief description of drawings]

FIG. 1 is a perspective view showing an embodiment of a copying traveling apparatus according to the present invention, FIG. 2 is a plan view showing the embodiment, FIG. 3 is a side view showing the embodiment, and FIG. 4 is the embodiment. 5 is a sectional view showing the relationship between the plate surface guide roller support member and the vehicle body in the above embodiment, FIG. 6 is a sectional view showing the drive system of the drive roller in the above embodiment, FIG. Is an explanatory view showing the inclination of the drive roller shaft in the above embodiment,
FIG. 8 is a perspective view showing an example of a combination of plate materials when a curved plate material is fillet-welded to a flat plate material, and FIGS. 9, 10, and 11 are explanatory views showing an operation state of the embodiment. Is. 2 ... curved plate material, 2a ... end surface, 2b ... front surface (or back surface), 3 ... vehicle body, 4,5 ... end surface guide roller, 8 ...
… Drive roller shaft, 10 …… Drive roller, 11 …… Drive motor, 9,12,13 …… Gear, 15,16 …… Plate surface guide roller support member, 26,27 …… Plate surface guide roller shaft, 28 , 29 …… Plate surface guide roller, 30,31 …… Spring.

Claims (1)

[Claims] 1. A copying traveling device that travels along the front surface (or the back surface) of a plate-shaped object, comprising a vehicle body and a magnet, rotatably supported by the vehicle body, and having an outer peripheral surface of the plate-shaped object. The front (or back) of the object
A drive roller that is in contact with the drive roller; a drive device that drives the drive roller;
A pair of plate surface guide roller support members, and the plate surface guide roller support members are rotatably supported by the plate surface guide roller support members, and the outer peripheral surfaces of the drive roller are brought into contact with the back surface (or front surface) of the plate object. A copying traveling device comprising: a plate surface guide roller; and spring means for urging the plate surface guide roller supporting member in a direction in which the plate surface guide roller approaches the drive roller.